CN114200829B - High-precision speed control method for supersonic large maneuvering target based on pseudo closed loop - Google Patents
High-precision speed control method for supersonic large maneuvering target based on pseudo closed loop Download PDFInfo
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Abstract
The invention provides a supersonic large maneuvering targetThe high-precision speed control method based on the pseudo-closed loop aims to provide a high-precision pseudo-closed loop speed control method in a cruising section by adopting a liquid rocket engine with discontinuous thrust adjustment as a large maneuvering target of power. The method comprises the steps of firstly predicting cruising resistance of a section through a mathematical model of a large maneuvering target; and then according to the predicted resistance D yc 3 thrust combination strategies are designed; because the engine thrust is established and the engine is declined and has response time, in order to ensure the high-precision control of the cruising speed, the threshold correction value of the engine on-off is designed. The flight test results demonstrate the effectiveness of this method.
Description
Technical Field
The invention relates to a speed control method of a supersonic large maneuvering target, in particular to a high-precision speed control method based on a pseudo-closed loop in a cruising process by adopting a liquid rocket engine with discontinuous thrust adjustment as power.
Background
The cloud sparrow supersonic speed large maneuvering target is a high-performance target which is developed by the university of northwest industry and the western-safety space power research institute in a combined way, aims to simulate the motion characteristics of four-generation and five-generation fighters in foreign countries such as F-22, F-35 and the like, and provides a high-performance air target for the development, shaping and identification of missile weapon systems and tactical training of pilots in China. The target can realize cruising flight in a wide-speed-range envelope of 0.8-1.6 Ma in a large-range space of 8-14 km, and can realize stable large overload maneuver of not less than 6g in a full envelope range. In order to achieve the capability of simulating the supersonic cruising and the maneuvering flight of the fourth generation fighter aircraft, the aeroengine cannot meet the design requirements in the target development stage, so that the large maneuvering target can only adopt the liquid rocket engine as power in the aspect of power system type selection.
However, the liquid rocket engine is characterized in that in the flying process, the thrust can not be continuously regulated, the number of the mobile targets of the sparrow is totally two liquid rocket engines, each liquid rocket engine has 3 gears which are 600/1000/1200N and 2000/2500/2800N respectively, the gears of the two engines are required to be set before being launched, the thrust gears of the two engines can not be changed after being launched, and the combination of the thrust gears of the two engines can cover any section in the whole flying envelope. The speed of the fourth-generation machine is stable and controllable during cruising flight, so that the control precision of the flight speed of a large maneuvering target is required to be controlled in a high precision range in order to simulate the flight performance of the fourth-generation machine realistically. Therefore, how to ensure that the high-precision control of the speed is realized under the working condition that the thrust can not be continuously regulated when the large maneuvering target cruises is a key technology for developing the large maneuvering target.
Disclosure of Invention
Aiming at the problem of speed control of a target with discontinuous thrust adjustment, the invention provides a high-precision pseudo-closed loop speed control method based on cruise resistance prediction, which comprises the steps of firstly setting a cruise speed control upper and lower threshold Ma according to the precision requirement of the present task on the cruise speed before a task starts Poff 、Ma Pon The gear combinations P1, P2 of the two engines, and the cruise engine combination strategy are determined simultaneously based on the predicted resistance to the cruise profile, and the selected gear is set on the ground. After launching, when the target flies to the mission section and meets the starting condition of the cruising engine, opening the corresponding engine according to the cruising engine combination strategy, and when the speed exceeds the cruising speed upper limit Ma Poff When the engine is turned off and then the speed is reduced, when the speed is lower than the cruising speed lower limit Ma Pon When the engine is turned on. Because the thrust establishment time of the engine is different, the actual on-off threshold value of the engine is corrected to improve the control precision' Poff 、Ma′ Pon 。
The technical conception of the invention is as follows: setting a speed control threshold of a cruising section for a large maneuvering target based on the speed control precision requirement of a task, designing an engine combination strategy for the target cruising section, correcting the speed control threshold by considering the thrust establishment time of the engine, and controlling the corresponding engine to start or shut down according to the threshold to realize the high-precision speed control of the target cruising section.
The invention relates to a high-precision speed control method of a supersonic large maneuvering target based on a pseudo closed loop, which comprises the following steps:
step 1: establishing a target model, and predicting section resistance
Selecting a mission profile H c ,Ma c Then, first, the equilibrium attack angle alpha of the section is calculated b ，
In the above formula, q is the target dynamic pressure,
ρ(H c ) As a function of the atmospheric density, H c Cruising altitude for the target; v (V) W Wind velocity as target, V W ＝Ma W V v (H c )，Ma W Is the targetIs used for the wind Mach number of the wind,
Ma c for relative Mach number, ma, at target cruise wind Cruising altitude H as target c Lower wind field Mach number, V v (H c ) Is the sonic velocity of the target cruise profile. g=9.8, s is the reference area of the target, +.>
The angle of attack of the target is alpha, which is the deviation of the lift force to the angle of attack.
Taking β=0, predicting the drag D at mission profile cruising yc The expression of (2) is:
D yc ＝qsC D (Ma W ,α b ,β) (2)
wherein q is the dynamic pressure of the target, s is the reference area of the target, C D As aerodynamic drag coefficient of target, ma W Aimed at the wind Mach number, alpha b β is the sideslip angle of the target, where β=0, which is the equilibrium angle of attack of the target.
Step 2: design of thrust combining strategy
Big maneuvering target C D The engine comprises 2 liquid rocket engines, wherein the low-thrust engine is defined as P1, the high-thrust engine is defined as P2, P1 comprises 3-gear thrust which is 600/1000/1200N respectively, and P2 comprises 3-gear thrust which is 2000/2500/2800N respectively. The thrust combination strategy when the large maneuvering target is designed to only do cruising tasks is as follows 3 kinds:
(1) Strategy 1: cruise switch 1 stage P1
If the cruising resistance D is predicted yc <1200N, the cruise is only started by 1P 1 engine, and the thrust gear of the selected P1 engine meets T 1c ＞D yc ；
(3) Strategy 2: cruise switches P1 and P2, P1 being main cruise engines
If the predicted cruising resistance is 1200N less than or equal to D yc <2000N, the cruising engine is started continuously when cruising by simultaneously opening P1 and P2, P1 is the main cruising engine, and the gear T is selected 1c =1200n, p2 select gear T 2c ＝2800N；
(3) Strategy 3: cruise switches P1 and P2, P2 being main cruise engines
If the predicted cruising resistance is 2000N less than or equal to D yc <4000N, P1 and P2 are simultaneously opened when the vehicle is cruising, P2 is a main cruising engine, and T is selected to be satisfied 1c +T 2c ＞D yc Is a minimum gear T of (2) 1c ,T 2c 。
Step 3: design speed pseudo-closed loop control strategy
First, control accuracy sigma for speed according to current mission profile Ma Setting a cruise speed control upper and lower threshold Ma Poff 、Ma Pon Wherein Ma Poff ＝Ma c +σ Ma ，Ma Pon ＝Ma c -σ Ma 。
Because the thrust magnitudes of the engines P1 and P2 of the large maneuvering target are discontinuously adjustable, the speed pseudo-closed loop control strategy of the target is designed according to the thrust combination strategy of step 2:
(1) Strategy 1: thrust combining strategy 1
When the target enters the profile and meets the starting condition of the engine, the P1 engine is started, the current cruising speed of the target is judged, and when the current cruising speed of the target is larger than the upper threshold Ma Poff When the P1 engine is turned off; the target speed is gradually reduced after the P1 engine is shut down, and when the target speed is smaller than the lower threshold Ma Pon When the P1 engine is started; and so on until the cruise task ends.
(2) Strategy 2: thrust combining strategy 2
When the target enters the profile and meets the starting condition of the engine, the P1 and P2 engines are started, the current cruising speed of the target is judged, and when the current cruising speed is larger than the upper threshold Ma Poff When the P2 engine is closed, the P1 engine is still in a starting state; the target speed is gradually reduced after the P2 engine is shut down, and when the target speed is smaller than the lower threshold Ma Pon When the P2 engine is started; and so on until the cruise task ends.
(3) Strategy 3: thrust combining strategy 3
When the target enters the profile and meets the starting condition of the engine, the P1 and P2 engines are started, the current cruising speed of the target is judged, and when the current cruising speed of the target is judgedWhich is greater than the upper threshold Ma Poff When the P1 engine is closed, the P2 engine is still in a starting state; the target speed is gradually reduced after the P1 engine is shut down, and when the target speed is smaller than the lower threshold Ma Pon When the P1 engine is started; and so on until the cruise task ends.
Step 4: establishing a thrust on/off model, and correcting a speed pseudo-closed loop control strategy threshold
(1) Thrust boot model
Through a thermal test run test of the power system, a total of 6 thrust starting models of the target 2 thrust engines are obtained through statistics, wherein the thrust starting models are as follows:
in the above, T Cij For theoretical thrust τ Fij For response time of solenoid valve, it indicates time from receiving instruction of thrust start-up to solenoid valve opening, τ Oij For each thrust corresponding set-up time, where i denotes the engine number, i=1, 2, j denotes the thrust gear number, j=1, 2,3, e.g. T 1c1 T, which is the 1 st thrust gear of the 1 st engine C11 ＝600N。
From the above, it can be seen that τ after the engine is started Fij The electromagnetic valve is opened from closed in the time, and the thrust is 0 in the time; τ Fij +τ Oij In the time, the engine thrust gradually increases from 0 to theoretical thrust, the speed change trend of the target in the interval is firstly reduced, and the moment T is taken as the target T ij (t) equals the resistance D at the current moment b At this point, the velocity of the target begins to gradually increase. Thus, if the engine is at the lower threshold Ma Pon Starting up at the moment, and enabling the cruising speed of the target in the thrust establishment process to be smaller than Ma Pon . To sum up, in order to improve the control accuracy of the cruise speed, the opening threshold value is corrected as follows:
Ma′ Pon ＝Ma Pon -δ Mon (4)
delta in the above Mon Calculating a square for the correction amount of the upper limit of the speed controlThe method is as follows:
in the above, t m Thrust T at moment ij (t m )＝D yc ，τ Fij ＜t m ＜τ Fij +τ Oij 。
(2) Thrust shutdown model
Through a thermal test run test of the power system, a total of 6 thrust gears of the target 2 thrust engines are obtained through statistics, and a thrust shutdown model is as follows:
in the above, T Cij For theoretical thrust τ Fij For the closing response time of the electromagnetic valve, consistent with the opening response time of the electromagnetic valve, tau Cij For each thrust falling from 100% to 0, where i denotes the engine number and j denotes the thrust gear number, e.g. T Cij T, which is the 1 st thrust gear of the 1 st engine 1c1 ＝600N。
From the above, it can be seen that τ after the engine is started Fij The electromagnetic valve is opened to closed in the time period, and the thrust is the theoretical thrust T icj ；τ Fij +τ Cij In the time, the engine thrust gradually decreases from the theoretical thrust to 0, the speed change trend of the target in the interval is firstly increased, and the moment T is taken as the target T Gij (t) equals the resistance D at the current moment b At this point, the velocity of the target begins to gradually decrease. Thus, if the engine is at the upper threshold Ma Poff When the engine is shut down, the cruising speed of the target in the thrust shut-down process is greater than Ma Poff . To sum up, in order to improve the control accuracy of the cruise speed, the shutdown threshold is modified as follows:
Ma′ Poff ＝Ma Poff -δ Moff (7)
delta in the above Moff Is fast toThe correction amount of the lower limit of the degree control is calculated as follows:
in the above, t n Thrust T at moment Gij (t n )＝D yc ，τ Fij ＜t n ＜τ Fij +τ Cij 。
The beneficial effects of the invention are as follows: the high-precision speed control method based on the pseudo-closed loop in the cruising process can meet the index requirement of high-precision speed control while cruising and flying by adopting the liquid rocket engine with discontinuous thrust regulation as a large maneuvering target. The invention has simple and reliable working mode.
Drawings
FIG. 1 is a block diagram of a large motorized target open loop speed control of the present invention.
Fig. 2 is a diagram of the large motorized target pseudo-closed loop speed control architecture of the present invention.
FIG. 3 is a graph of two engine commands for the cruise phase of the large maneuver target flight test of the present invention.
Fig. 4 is a graph of engine command and thrust chamber pressure for the macro mobile target flight test P2 of the present invention.
Fig. 5 is a mach number curve of a flight test of a large maneuver target of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to fig. 1 to 4.
The invention discloses a large maneuvering target cruising task pseudo-closed loop speed control method, which comprises the following steps of:
step 1: establishing a target model, and predicting section resistance
Selecting a mission profile H c ,Ma c Then, first, the equilibrium attack angle alpha of the section is calculated b ，
In the above, H c For target cruising altitude, ma c The target cruising speed refers to the relative Mach number, m is the mass of the target, g=9.8, q is the target dynamic pressure,
ρ is the atmospheric density, V W Targeting wind velocity, s reference area of target, +.>
Is the deviation of lift force to attack angle.
Taking β=0, predicting the drag at mission profile cruising:
D yc ＝qsC D (Ma W ,α b ,β) (10)
step 2: design of thrust combining strategy
The large maneuvering target comprises 2 liquid rocket engines, a small thrust engine is defined as P1, a large thrust engine is defined as P2, P1 comprises 3-gear thrust, 600/1000/1200N respectively, and P2 comprises 3-gear thrust, 2000/2500/2800N respectively. The thrust combination strategy when the large maneuvering target is designed to only do cruising tasks is as follows 3 kinds:
(1) Strategy 1: cruise switch 1 stage P1
If the cruising resistance D is predicted yc <1200N, the cruise is only started by 1P 1 engine, and the thrust gear of the selected P1 engine meets T 1c ＞D yc ；
(3) Strategy 2: cruise switches P1 and P2, P1 being main cruise engines
If the predicted cruising resistance is 1200N less than or equal to D yc <2000N, the cruising engine is started continuously when cruising by simultaneously opening P1 and P2, P1 is the main cruising engine, and the gear T is selected 1c =1200n, p2 select gear T 2c ＝2800N；
(3) Strategy 3: cruise switches P1 and P2, P2 being main cruise engines
If the predicted cruising resistance is 2000N less than or equal to D yc <4000N, cruise requirementP1 and P2 are simultaneously opened, P2 is used as a main cruising engine, and T is selected to be satisfied 1c +T 2c ＞D yc Is a minimum gear T of (2) 1c ,T 2c 。
Step 3: design speed pseudo-closed loop control strategy
First, control accuracy sigma for speed according to current mission profile Ma Setting a cruise speed control upper and lower threshold Ma Poff 、Ma Pon Wherein Ma Poff ＝Ma c +σ Ma ，Ma Pon ＝Ma c -σ Ma 。
Because the thrust magnitudes of the engines P1 and P2 of the large maneuvering target are discontinuously adjustable, the speed pseudo-closed loop control strategy of the target is designed according to the thrust combination strategy of step 2:
(1) Strategy 1: thrust combining strategy 1
When the target enters the profile and meets the starting condition of the engine, the P1 engine is started, the current cruising speed of the target is judged, and when the current cruising speed of the target is larger than the upper threshold Ma Poff When the P1 engine is turned off; the target speed is gradually reduced after the P1 engine is shut down, and when the target speed is smaller than the lower threshold Ma Pon When the P1 engine is started; and so on until the cruise task ends.
(2) Strategy 2: thrust combining strategy 2
When the target enters the profile and meets the starting condition of the engine, the P1 engine and the P2 engine are sequentially started, the current cruising speed of the target is judged, and when the current cruising speed of the target is larger than the upper threshold Ma Poff When the P2 engine is closed, the P1 engine is still in a starting state; the target speed is gradually reduced after the P2 engine is shut down, and when the target speed is smaller than the lower threshold Ma Pon When the P2 engine is started; and so on until the cruise task ends.
(3) Strategy 3: thrust combining strategy 3
When the target enters the profile and meets the starting condition of the engine, the P1 engine and the P2 engine are sequentially started, the current cruising speed of the target is judged, and when the current cruising speed of the target is larger than the upper threshold Ma Poff When the P1 engine is closed, the P2 engine is still in a starting state; the target speed is gradually reduced after the P1 engine is shut down, and when the target speed is smaller than the lower threshold Ma Pon At the time P1 is turned onAn engine; and so on until the cruise task ends.
Step 4: establishing a thrust on/off model, and correcting a speed pseudo-closed loop control strategy threshold
(1) Thrust boot model
Through a thermal test run test of the power system, a total of 6 thrust starting models of the target 2 thrust engines are obtained through statistics, wherein the thrust starting models are as follows:
in the above, T Cij For theoretical thrust τ Fij For response time of solenoid valve, it indicates time from receiving instruction of thrust start-up to solenoid valve opening, τ Oij For each thrust corresponding set-up time, where i denotes the engine number, i=1, 2, j denotes the thrust gear number, j=1, 2,3, e.g. T 1c1 T, which is the 1 st thrust gear of the 1 st engine C11 ＝600N。
From the above, it can be seen that τ after the engine is started Fij The electromagnetic valve is opened from closed in the time, and the thrust is 0 in the time; τ Fij +τ Oij In the time, the engine thrust gradually increases from 0 to theoretical thrust, the speed change trend of the target in the interval is firstly reduced, and the moment T is taken as the target T ij (t) equals the resistance D at the current moment b At this point, the velocity of the target begins to gradually increase. Thus, if the engine is at the lower threshold Ma Pon Starting up at the moment, and enabling the cruising speed of the target in the thrust establishment process to be smaller than Ma Pon . To sum up, in order to improve the control accuracy of the cruise speed, the opening threshold value is corrected as follows:
Ma′ Pon ＝Ma Pon -δ Mon (12)
delta in the above Mon For the correction amount of the speed control upper limit, the calculation method is as follows:
in the above, t m Thrust T at moment ij (t m )＝D yc ，τ Fij ＜t m ＜τ Fij +τ Oij 。
(2) Thrust shutdown model
Through a thermal test run test of the power system, a total of 6 thrust gears of the target 2 thrust engines are obtained through statistics, and a thrust shutdown model is as follows:
in the above, T Cij For theoretical thrust τ Fij For the closing response time of the electromagnetic valve, consistent with the opening response time of the electromagnetic valve, tau Cij For each thrust falling from 100% to 0, where i denotes the engine number and j denotes the thrust gear number, e.g. T Cij T, which is the 1 st thrust gear of the 1 st engine 1c1 ＝600N。
From the above, it can be seen that τ after the engine is started Fij The electromagnetic valve is opened to closed in the time period, and the thrust is the theoretical thrust T icj ；τ Fij +τ Cij In the time, the engine thrust gradually decreases from the theoretical thrust to 0, the speed change trend of the target in the interval is firstly increased, and the moment T is taken as the target T Gij (t) equals the resistance D at the current moment b At this point, the velocity of the target begins to gradually decrease. Thus, if the engine is at the upper threshold Ma Poff When the engine is shut down, the cruising speed of the target in the thrust shut-down process is greater than Ma Poff . To sum up, in order to improve the control accuracy of the cruise speed, the shutdown threshold is modified as follows:
Ma′ Poff ＝Ma Poff -δ Moff (15)
delta in the above Moff For the correction amount of the speed control lower limit, the calculation method is as follows:
in the above, t n Thrust T at moment Gij (t n )＝D yc ，τ Fij ＜t n ＜τ Fij +τ Cij 。
The method is verified by a flight test. For the embodiment, the parameters of the method designed by the invention are selected as follows: h c ＝9000,Ma c ＝1.2,σ Ma =0.05, modeling to obtain the predicted resistance D of the target yc =2200N; thus, strategy (2) is selected, gear selection 1200n+2800n is performed, and thus the relevant parameters are selected as: τ F23 ＝0.04s，τ O23 ＝120ms，τ C23 ＝100ms，T C23 =2800n, thus calculating Ma' Pon ＝1.153，Ma′ Poff ＝1.248。
The command curves of the two engines of the large locomotive target are shown in fig. 3, the command and thrust chamber pressure curves of the P2 engine are shown in fig. 4, and the Mach number curves are shown in fig. 5. As can be seen from FIG. 3, when the 28.14s aircraft meets the engine start condition, the P1 engine is opened, then the P2 engine is started when the speed is reduced to the lower limit, then the speed is increased to the upper limit, and the P2 engine is shut down, as can be seen from FIG. 4, the response time of the electromagnetic valve of the P2 engine in the flight test is 40ms, the room pressure building time is 110ms, the falling time of the room pressure is 80ms, the consistency with the prediction is better, as can be seen from FIG. 5, the Mach number variation range is 1.1503-1.2498 Ma, the deviation from the expected value is not more than 0.0003Ma, the accuracy is higher, and as can be seen from the result, the method is effective and has higher engineering value.
Claims (2)
1. The high-precision speed control method for the supersonic large maneuvering target based on the pseudo closed loop is characterized by comprising the following steps of:
step 1: establishing a target model and predicting section resistance;
step 2: designing a thrust combination strategy;
big maneuvering target C D Comprises 2 liquid rocket engines, wherein a low-thrust engine is defined as P1, a high-thrust engine is defined as P2,p1 contains 3-gear thrust, which is 600/1000/1200N respectively, and P2 contains 3-gear thrust, which is 2000/2500/2800N respectively;
step 3: designing a pseudo-closed loop control strategy of the speed;
control accuracy sigma for speed according to current mission profile Ma Setting a cruise speed control upper and lower threshold Ma Poff 、Ma Pon Wherein Ma Poff ＝Ma c +σ Ma ，Ma Pon ＝Ma c -σ Ma ；
Step 4: establishing a thrust on/off model, and correcting a speed pseudo-closed loop control strategy threshold;
in step 1, a task profile H is selected c ,Ma c Then, first, the equilibrium attack angle alpha of the section is calculated b ，
In the above formula, q is the target dynamic pressure,
ρ(H c ) As a function of the atmospheric density, H c Cruising altitude for the target; v (V) W Wind velocity as target, V W ＝Ma W V v (H c )，Ma W As the opposite wind mach number of the target,
Ma c for relative Mach number, ma, at target cruise wind Cruising altitude H as target c Lower wind field Mach number, V v (H c ) Sonic velocity for the target cruise profile; g=9.8, s is the reference area of the target, +.>
The deviation of lift force to attack angle is adopted, and alpha is the attack angle of a target;
taking β=0, predicting task profileResistance D at cruise yc The expression of (2) is:
D yc ＝qsC D (Ma W ,α b ,β)(2)
wherein q is the dynamic pressure of the target, s is the reference area of the target, C D As aerodynamic drag coefficient of target, ma W Aimed at the wind Mach number, alpha b β is the sideslip angle of the target, where β=0;
in step 2, the thrust combination strategy when the large maneuvering target is designed to only do cruising tasks is 3 kinds of the following:
strategy 1: cruise switch 1 stage P1
If the cruising resistance D is predicted yc <1200N, the cruise is only started by 1P 1 engine, and the thrust gear of the selected P1 engine meets T 1c ＞D yc ；
Strategy 2: cruise switches P1 and P2, P1 being main cruise engines
If the predicted cruising resistance is 1200N less than or equal to D yc <2000N, the cruising engine is started continuously when cruising by simultaneously opening P1 and P2, P1 is the main cruising engine, and the gear T is selected 1c =1200n, p2 select gear T 2c ＝2800N；
Strategy 3: cruise switches P1 and P2, P2 being main cruise engines
If the predicted cruising resistance is 2000N less than or equal to D yc <4000N, P1 and P2 are simultaneously opened when the vehicle is cruising, P2 is a main cruising engine, and T is selected to be satisfied 1c +T 2c ＞D yc Is a minimum gear T of (2) 1c ,T 2c ；
In step 3, since the thrust magnitudes of the engines P1 and P2 of the large locomotive target are discontinuously adjustable, the speed pseudo-closed loop control strategy of the target is designed according to the thrust combination strategy of step 2:
strategy 1: thrust combining strategy 1
When the target enters the profile and meets the starting condition of the engine, the P1 engine is started, the current cruising speed of the target is judged, and when the current cruising speed of the target is larger than the upper threshold Ma Poff When the P1 engine is turned off; the target speed is gradually reduced after the P1 engine is shut down, and when the target speed is smaller than the lower threshold Ma Pon When openA P1 engine; and so on until the cruising task is finished;
strategy 2: thrust combining strategy 2
When the target enters the profile and meets the starting condition of the engine, the P1 and P2 engines are started, the current cruising speed of the target is judged, and when the current cruising speed is larger than the upper threshold Ma Poff When the P2 engine is closed, the P1 engine is still in a starting state; the target speed is gradually reduced after the P2 engine is shut down, and when the target speed is smaller than the lower threshold Ma Pon When the P2 engine is started; and so on until the cruising task is finished;
strategy 3: thrust combining strategy 3
When the target enters the profile and meets the starting condition of the engine, the P1 and P2 engines are started, the current cruising speed of the target is judged, and when the current cruising speed is larger than the upper threshold Ma Poff When the P1 engine is closed, the P2 engine is still in a starting state; the target speed is gradually reduced after the P1 engine is shut down, and when the target speed is smaller than the lower threshold Ma Pon When the P1 engine is started; and so on until the cruising task is finished;
in step 4, the thrust boot model is:
through a thermal test run test of the power system, a total of 6 thrust starting models of the target 2 thrust engines are obtained through statistics, wherein the thrust starting models are as follows:
in the above, T Cij For theoretical thrust τ Fij For response time of solenoid valve, it indicates time from receiving instruction of thrust start-up to solenoid valve opening, τ Oij For each thrust corresponding set-up time, where i denotes the engine number, i=1, 2, j denotes the thrust gear number, j=1, 2,3, e.g. T 1c1 T, which is the 1 st thrust gear of the 1 st engine C11 ＝600N；
From the above, it can be seen that τ after the engine is started Fij The electromagnetic valve is opened from closed in the time, and the thrust is 0 in the time; τ Fij +τ Oij In time, the engine thrust is gradually increased from 0Gradually increasing to the theoretical thrust, wherein the speed change trend of the target in the interval is firstly reduced, and the moment T is the target T ij (t) equals the resistance D at the current moment b At this point, the velocity of the target begins to gradually increase; thus, if the engine is at the lower threshold Ma Pon Starting up at the moment, and enabling the cruising speed of the target in the thrust establishment process to be smaller than Ma Pon The method comprises the steps of carrying out a first treatment on the surface of the In order to improve the control accuracy of the cruise speed, the opening threshold value is corrected as follows:
Ma′ Pon ＝Ma Pon -δ Mon (4)
delta in the above Mon For the correction amount of the speed control upper limit, the calculation method is as follows:
in the above, t m Thrust T at moment ij (t m )＝D yc ，τ Fij ＜t m ＜τ Fij +τ Oij ；
In step 4, the thrust shutdown model is:
through a thermal test run test of the power system, a total of 6 thrust gears of the target 2 thrust engines are obtained through statistics, and a thrust shutdown model is as follows:
in the above, T Cij For theoretical thrust τ Fij For the closing response time of the electromagnetic valve, consistent with the opening response time of the electromagnetic valve, tau Cij For each thrust falling from 100% to 0, where i denotes the engine number and j denotes the thrust gear number, e.g. T Cij T, which is the 1 st thrust gear of the 1 st engine 1c1 ＝600N；
From the above, it can be seen that τ after the engine is started Fij The electromagnetic valve is opened to closed in the time period, and the thrust is the theoretical thrust T icj ；τ Fij +τ Cij In the time, the engine thrust gradually decreases from the theoretical thrust to 0, the speed change trend of the target in the interval is firstly increased, and the moment T is taken as the target T Gij (t) equals the resistance D at the current moment b At this point, the velocity of the target begins to gradually decrease; thus, if the engine is at the upper threshold Ma Poff When the engine is shut down, the cruising speed of the target in the thrust shut-down process is greater than Ma Poff The method comprises the steps of carrying out a first treatment on the surface of the In order to improve the control accuracy of the cruising speed, the shutdown threshold value is modified as follows:
Ma′ Poff ＝Ma Poff -δ Moff (7)
delta in the above Moff For the correction amount of the speed control lower limit, the calculation method is as follows:
in the above, t n Thrust T at moment Gij (t n )＝D yc ，τ Fij ＜t n ＜τ Fij +τ Cij 。
2. The high-precision speed control method based on pseudo-closed loop for the supersonic large maneuvering target according to claim 1, wherein the method comprises the following steps: the parameters are selected as follows: h c ＝9000,Ma c ＝1.2,σ Ma =0.05, modeling to obtain the predicted resistance D of the target yc =2200N; thus, strategy (2) is selected, gear selection 1200n+2800n is performed, and thus the relevant parameters are selected as:
τ F23 ＝0.04s，τ O23 ＝120ms，τ C23 ＝100ms，T C23 =2800n, thus calculating Ma' Pon ＝1.153，Ma′ Poff ＝1.248。
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